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Authors: Veljko Potkonjak 1 ; Nenad Bascarevic 1 ; Predrag Milosavljevic 1 ; Kosta Jovanovic 1 and Owen Holland 2

Affiliations: 1 University of Belgrade, Serbia ; 2 University of Sussex, United Kingdom

Keyword(s): Knowledge Base Control, Fuzzy Control, Machine Learning, Robot Arms, Bio-inspired Robot.

Related Ontology Subjects/Areas/Topics: Artificial Intelligence ; Computational Intelligence ; Fuzzy Control ; Fuzzy Systems ; Fuzzy Systems Design, Modeling and Control ; Soft Computing

Abstract: This paper aims to present a novel experience-based solution for a black-box control problem, applied to an anthropomimetic robot. The control method is tested on a point to point control problem of a multi-jointed robot arm. The model characteristics – dynamics, kinematics, and control parameters – are considered as unspecified, and therefore we deal with a machine learning approach that follows the cybernetic concept of black-box. The only available data of the system are those obtained from measuring inputs and outputs. The control algorithm involves two levels: feedforward and feedback. The main focus is, however, on feedback level where the algorithm for experience-based estimation of kinematic coefficients is combined with fuzzy logic control in order to relate the control inputs with the robot arm motion in the global frame.


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Paper citation in several formats:
Potkonjak, V.; Bascarevic, N.; Milosavljevic, P.; Jovanovic, K. and Holland, O. (2012). Experience-based Fuzzy Control of an Anthropomimetic Robot. In Proceedings of the 4th International Joint Conference on Computational Intelligence - FCTA, (IJCCI 2012) ISBN 978-989-8565-33-4; ISSN 2184-2825, pages 389-394. DOI: 10.5220/0004117503890394

author={Veljko Potkonjak. and Nenad Bascarevic. and Predrag Milosavljevic. and Kosta Jovanovic. and Owen Holland.},
title={Experience-based Fuzzy Control of an Anthropomimetic Robot},
booktitle={Proceedings of the 4th International Joint Conference on Computational Intelligence - FCTA, (IJCCI 2012)},


JO - Proceedings of the 4th International Joint Conference on Computational Intelligence - FCTA, (IJCCI 2012)
TI - Experience-based Fuzzy Control of an Anthropomimetic Robot
SN - 978-989-8565-33-4
IS - 2184-2825
AU - Potkonjak, V.
AU - Bascarevic, N.
AU - Milosavljevic, P.
AU - Jovanovic, K.
AU - Holland, O.
PY - 2012
SP - 389
EP - 394
DO - 10.5220/0004117503890394